﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using ABBService.Models;

namespace ABBService.IDAL
{
    public interface IABBService
    {
        /// <summary>qqq
        ///错误状态
        /// </summary>
        /// <returns></returns>
        Task<string> ABB_ErrState(Model_ABBConfiguration abb);
        /// <summary>
        /// 六轴数据
        /// </summary>
        /// <returns></returns>
        Task<Model_Joints> ABB_Joints(Model_ABBConfiguration abb);
        /// <summary>
        /// 速率
        /// </summary>
        /// <returns></returns>
        Task<string> ABB_SpeedRatio(Model_ABBConfiguration abb);
        /// <summary>
        /// 操作模式
        /// </summary>
        /// <returns></returns>
        Task<string> ABB_OperationMode(Model_ABBConfiguration abb);
        /// <summary>
        /// 
        /// </summary>
        /// <returns></returns>
        Task<string> ABB_CtrlState(Model_ABBConfiguration abb);
        /// <summary>
        /// 目标
        /// </summary>
        /// <returns></returns>
        Task<Model_TargetPoints> ABB_RobotTarget(Model_ABBConfiguration abb);
        /// <summary>
        /// 伺服？
        /// </summary>
        /// <returns></returns>
        Task<Model_Servoenable> ABB_Servoenable(Model_ABBConfiguration abb);
        /// <summary>
        /// rapid状态
        /// </summary>
        /// <returns></returns>
        Task<Model_RapidExcution> ABB_RapidExcution(Model_ABBConfiguration abb);
        /// <summary>
        /// tasks
        /// </summary>
        /// <returns></returns>
        Task<List<Model_RapidTasks>> ABB_RapidTasks(Model_ABBConfiguration abb);
    }
}
